Apparatus and information processing methods for a tracking system tracker unit

ABSTRACT

1. A tracking system tracker unit which generates an electrical azimuth tracking error correction signal in response to detected changes in a television camera output video signal picturing a selected target in a contrasting background to control the viewing axis of the television camera in azimuth tracking relation to the selected target, comprising: A. Detector circuit means detecting voltage amplitude changes in the television camera output video signal and producing a detection pulse that identifies the real-time-position of an edge-like characteristic of the selected target, B. First pulse generator circuit means generating a first marker pulse for each said detection pulse produced in said detector circuit means and introducing said first marker pulse into a first channel. C. SECOND PULSE GENERATOR CIRCUIT MEANS GENERATING A SECOND MARKER PULSE IN RESPONSE TO EACH DETECTION PULSE PRODUCED BY SAID DETECTOR CIRCUIT MEANS AND INTRODUCING SUCH SECOND MARKER PULSE IN ANOTHER AND SEPARATE CHANNEL SUBSEQUENT TO SAID FIRST MARKER PULSE BY A FIXED TIME DELAY, D. Third pulse generator circuit means generating a horizontal tracking gate pulse having a definite time duration and having a variable time-position in each line of horizontal scan of the television camera, E. Two AND gate circuit means each receiving a different one of the said first and second marker pulses and said horizontal tracking gate pulse and gating the time-coincident portion of said received pulses as an azimuth tracking error detection pulse, F. Summing circuit means functioning to add the summing tracking error detection pulses gated by each of said two AND gate circuit means and producing a tracking error detection pulse signal representing their difference and representing the selection of a desired direction of azimuth tracking error correction, and G. Integrator circuit means integrating the signals produced by said summing circuit means to form said electrical azimuth tracking error correction signal, said azimuth tracking error correction signal variably positioning the horizontal tracking gate pulse generated by said third pulse generator means in a non-singularly coincident relation to the marker pulses generated by said first and second pulse generator circuit means at said two AND gate circuit means to accomplish tracking system tracking correction and controlling the position of the viewing axis of the television camera in aligned azimuth tracking relation to the selected target.

United States Patent [191 Deye et al. Jan. 16, 1973 [5 APPARATUS AND INFORMATION b. First pulse generator circuit means generating a PROCESSING METHODS FOR A first marker pulse for each said detection pulse TRACKING SYSTEM TRACKER UNIT produced in said detector circuit means and in- 75 inventors: Neil s. Deye; Richard B. Kuhn, both ,fgf first mark" pulse a first chan' of Columbus Chm c. second pulse generator circuit means generating a [73] Assignee: North American Rockwell Corporasecond mark" Pulse in l to each detec' on tion pulse produced by said detector circuit means and introducing such second marker pulse [22] F'led: Oct-12,1964 in another and separate channel subsequent to [21 1 Appl No; 403,396 said first marker pulse by a fixed time delay,

d. Third pulse generator circuit means generating a horizontal tracking gate pulse having a definite 1 Cl G- 250/203 CT time duration and having a variable time-position [51] Int. Cl. ..H04n 3/00 in each line of horizontal scan of the television [58] Field of Search .244/l4, 3.l6; 250/203, 203 CT; camera,

l78/6, 6.8, DIG. 21 e. Two AND gate circuit means each receiving a different one of the said first and second marker References Cited pulses and said horizontal tracking gate pulse and gating the time-coincident portion of said UNITED STATES PATENTS received pulses as an azimuth tracking error deg r. tiir'1i irlg iilcun means functioning to add the 30l0024 Hug 223"" 250:2 summing tracking error detection pulses gated by 3:043:90? 7/196] Martin .2 244/l4X each gate f 3230308 H1966 Lewczyk "Hg/6 X producing a tracking error detection pulse signal representing their difference and representing the Primary Examiner Benjamin A Borchelt selection of a desired direction of azimuth Assistant Examiner-S C Buczinski tracking error correcuon and integrator circuit means integrating the signals AnorneyW|ll1am R. Lane and Daniel H. Dunbar g produced by said summing circuit means to form said electrical azimuth tracking error correction EXEMPLARY CLAIM signal, said azimuth tracking error correction l. A tracking system tracker unit which generates an Signal variably Positioning the horizontal tracking electrical azimuth tracking error correction signal in S Pulse generated y said third Pulse generator response-to detected changes in a television camera means a non-singularly coincident relation to output video signal picturing a selected target in a the marker Pulses generate? y said first and contrasting background to control the viewing axis of second P gellelator circu means'at said Y the television camera in azimuth tracking relation to AND gate 'f 'fl to accompl'sh tfackmg the selected target, comprising; system tracking correction and controlling the i a. Detector circuit means detecting voltage am- Y the Pelevlsion pmude changes in the television camera outpu camera In aligned azimuth tracking relation to the video signal and producing a detection pulse that selected target identifies the real-time position of an edge-like 9 Chins, 34 Drawing Figures characteristic of the selected target.

IO TELEVISION/ 4 l5, 'CMERA MONITOR L l3, g TRACKER PLATFORM AND wOPERATOR DRIVE l2 '7 COMMAND CONTROLS POWER '6 SUPPLY g e a PATENTEBJAN 16 1915 3711.637 sum UlUF 12 IIIIL ii: i

SUMMING CIF CUIT SHEET O IUF 12 "I I Jana-I rllll IIIIIIIIIIIIIIL PATENTEDJIIII 16 I975 PATENTEDJAN 16 I973 I 3,711,637 SHEET 08 0F 12 PATENTEDJAH 16 I975 SHEET 110F12 VIDEO AMPLIFIER I DETECTORS 3| n 5 T Em NH OS 1 T E0 NH O n w u m u n iv, u rl llllllllllllllllIIIIIIIIIL r llll 11L m M 7 2 O 2 Em ll 2 N O H 2 T 08 E0 4 0 NH a E 3 OS o O 6 ln 9 mm lV S L FEA C D 1 m 2 u 3 EN 2 I NH a O 4 4 w 2 2 O I J. 5 2 l. 2 2 9 2 EN 2 I WW R m m 1 O .m NT H E 2 EA APPARATUS AND INFORMATION PROCESSING METHODS FOR A TRACKING SYSTEM TRACKER UNIT This invention relates generally to object racking, and particularly concerns apparatus and information processing methods for a tracker unit that may be advantageously utilized in a tracking system to establish and maintain the viewing axis of an optical-type sensor in the tracking system in a prescribed directional relation with respect to a selected target.

An important object of this invention is to provide a tracking system tracker unit with apparatus and information processing methods that have utility in an incorporating tracking system to significantly increase the maximum tracking rates obtainable in an automatic mode of system operation, such maximum tracking rates also being more independent of the size, illumination, and contrast characteristics of the selected target than the corresponding rates obtained with known tracker units.

Another object of this invention is to provide a tracking system tracker unit of the type that derives a vertical tracking error correction signal to control the viewing axis of a television camera sensor in aligned relation to a selected target from the time-coincidence of a horizontal tracking detection signal and a vertical tracking gate with apparatus and information processing methods that significantly increase the probability of maintaining the system in an automatic tracking mode by minimizing the likelihood of escape of the vertical tracking gate from the selected target, such invention being particularly important with respect to tracker units wherein the detected horizontal tracking otherwise is sourced in the time-coincidence of a comparatively narrow horizontal tracking gate pulse positioned generally intermediate widely separated target edge marker pulses.

A still further object of this invention is to provide a tracking system tracker'unit that derives a tracking error correction signal from information contained in the signal output of a television camera sensor to control the viewing axis of the television camera sensor in aligned relation to a selected target with apparatus and information processing methods that significantly reduce control slewing and random drifting during tracking system operation in an automatic tracking mode.

According to the invention, a tracking system tracker unit of the type having horizontal and vertical logic sections that develop tracking error correction signals to control a television camera sensor unit and its driven supporting platform in tracking alignment with a selected target and to additionally drive a root tracking gate pulse away from any singularly coincident target edge marker pulse and interiorly of the target is provided with a video processing section that receives a video signal from the sensor unit and develops the required target edge marker pulses therefrom, such video processing section developing, in separate channels, marker pulses that identify the target relatively leading edge and other marker pulses that establish a false target trailing edge positioned in all instances approximately the width of the basic tracking gate pulse from said target relatively leading edge.

In the drawings:

FIGS. 1 and 2 are plan and elevational views, respectively, of representative sensor-target viewing relations which may exist in connection with the operation of a typical tracking system;

FIG. 3 is a functional block diagram of a tracking system of the type which may advantageously incorporate a tracker unit having the features of this invention;

FIG. 4 is a functional block diagram of the construction that is basic to the type of tracker unit to which this invention applies;

FIG. 5 is an elevational view of one suitable form of the monitor unit and the command controls unit shown as separate functional blocks in FIG. 3;

FIG. 6 illustrates the display relation of the reticle and tracking gates used in the embodiments of a tracker unit detailed by FIG. 9;

FIG. 7 is a combined sectional view and functional block diagram of one form of television camera unit that has been used with the embodiments of a tracker unit shown schematically in FIGS. 9 and 24 through 27;

FIG. 8 illustrates the position of target images projected on the signal electrode of the camera tube illustrated in FIG. 7 in response to various viewing relations shown in FIGS. 1 and 2;

FIG. 9 is a schematic diagram of a basic embodiment of a tracker unit to which this invention has application;

FIG. 10 illustrates particular circuits that are preferred in constructing the video processing section shown schematically in FIG. 9;

FIG. 11 illustrates an AND gate circuit module that is preferred in constructing the embodiments of a tracker unit shown schematically in FIGS. 9 and 24 through 27;

FIG. 12 illustrates an OR gate circuit module that is preferred in constructing the embodiments of a tracker unit shown schematically in FIGS. 9 and 24 through 27;

FIG. 13 illustrates an inverter circuit module that is preferred in constructing the embodiments of a tracker unit shown schematically in FIGS. 9 and 24 through 27;

FIG. 14 illustrates a summing circuit that is preferred for use in tracker units having the features of this invention to develop an improved monitor unit display;

FIG. 15 illustrates particular circuits that are preferred in constructing the horizontal and vertical logic sections shown schematically in FIG. 9;

FIG. 16 details various coincidence relations that do target may exist between edge marker pulses of a selected target and the basic horizontal tracking gate pulse utilized in the FIG. 9 tracker unit embodiment;

FIGS. 17 through 23 detail key waveforms that appear at noted points within the tracker unit shown in FIG. 9 during tracking system automatic tracking operation;

FIG. 24 is a schematic diagram of a tracker unit embodiment which differs from the embodiment of FIG. 9 through the use of apparatus and method techniques relating to tracking a selected target in part by means of a false trailing edge;

FIG. 25 is a schematic diagram of a tracker unit embodiment which differs from the embodiment of FIG. 24 through the additional use of apparatus and method techniques relating to automatic gain control;

FIG. 26 is a schematic diagram of a tracker unit embodiment which differs from the embodiment of FIG. 25 through use of apparatus and method techniques relating to the utilization of tracking error signals that are proportioned in duration to the degree such tracking error signals intrude into the basic tracking gate pulse;

FIG. 27 is a schematic diagram of a tracker unit embodiment which differs from the embodiments of FIGS. 25 and 26 through use of apparatus and method techniques which relate to tracking a selected target in part by means of a vertical false edge single tracking gate pulse;

FIG. 28 details an improved summing circuit shown schematically in the tracker unit embodiment of FIG. 24;

FIG. 29 details the automatic gain control circuit shown schematically in the embodiment of a tracker unit shown in FIG. 25;

FIG. 30 details the linearizing circuit shown schematically in the tracker unit embodiment of FIG. 26;

FIG. 31 details the vertical false edge single tracking gate pulse circuit shown schematically in the tracker unit embodiment of FIG. 27;

FIG. 32 details various pulse waveforms that occur in connection with operation of the tracker unit embodiments illustrated in FIGS. 24, 25, and 26;

FIG. 33 details various pulse waveforms that occur in connection with and are peculiar to operation of the tracker unit embodiment illustrated in FIG. 26', and

FIG. 34 details various pulse waveforms that occur in connection with and are peculiar to operation of the tracker unit embodiment illustrated in FIG. 27.

The type of tracking system which this invention is broadly concerned with is illustrated generally by the functional block diagram of FIG. 3. Such tracking system is referenced as and is basically comprised of an optical sensor in the form of television camera unit 11. a platform and drive unit 12, and a tracker unit 13. The platform portion of unit I2 serves to support television camera II; during operation of system 10 in its automatic tracking mode the drive portion of unit 12 serves to move the platform and connected camera unit 11 in tracking relation to the relatively movable target T positioned within the field of view designated 14. Tracker unit 13 regulates tracking movement of platform and drive unit 12 and couples that unit to television camera 11 in a feedback control relation. In addition, system 10 includes a monitor unit which takes the form of a typical monochrometelevision picture tube and which is used to present a visual display of the general tracking problem viewed by the optical sensor and an indication of system tracking alignment. A human operator provides the link which exists between monitor unit 15 and the command controls function designated 16. The operator is normally responsible for accomplishing such command functions as activating the system. selecting the system mode of operation (scanning or automatic tracking), selecting the target if choice is involved, and obtaining acquisition of the selected target in the system tracking reticle prior to locking-on for automatic system tracking. A power supply 17 of conventional form is typically included in system 10 to provide the preferred electrical energy for system operation.

FIG. 7 is included in the drawings to provide a schematic illustration of a type of television camera unit that has been utilized in a tracking system 10 which incorporated a tracker unit having the features of this invention. Such television camera unit is referenced generally as 22 and is basically comprised of a lens system 23, a camera tube 24, conventional video signal circuits 25, and conventional deflection and synchronizing circuits 26. For the purposes of this invention a specific form of television camera tube is not necessary; however, a vidicon-type camera tube such as is shown as component 24 of FIG. 7 has been utilized as the optical sensor portion of a tracking system having an actual embodiment of this invention. The specific vidi'con-type camera tube 24 had a signal electrode photoconductive layer with a 36 X h" format. The video signal circuits 25 and the deflection and synchronizing circuits 26 associated with the actuallyused unit 22 operated to produce a standard l-volt television camera output video signal (A) and a composite horizontal and vertical synchronization signal (C) with a field repetition rate of cycles per second. Since closed-loop circuits are normally used, it is not required that signals A and C be combined for transmission. Such signals, as used, did produce a standard raster comprised of 525 lines; interlacing of separate field frames can be used but is entirely optional insofar as the hereinafter-claimed invention is concerned. In addition, the video signal A of the actually-used FIG. 7 arrangement included blanking pulses in correlated relation to the signal C horizontal and vertical synchronization information. Equalization pulses associated with the conventional horizontal and vertical synchronization signal produced by circuits 26 are not necessary to operation of the tracking system; also it is generally preferred that the vertical synchronization pulses contained within signal C be non-serrated.

FIG. 4 illustrates the functional block construction of a tracker unit which is designated 28 and which may have any one of the several specific embodiments detailed in the drawings and in the following description; such construction may be advantageously utilized as the tracker unit for tracking systems of the type disclosed generally by FIG. 3. Tracker unit 18 is essentially comprised of a video processing section 19, a horizontal logic section 20, and a vertical logic section 21. Basically, tracker unit 18 receives the output signals of television camera unit 11 (e.g., signals A and C of the FIG. 7 means) and by preferred apparatus (circuit means) and information processing methods derives two output signals that may conventiently be used to control azimuth and elevational movement of unit I2 during the automatic tracking mode of system operation. One such output signal (X,,) is basically produced by horizontal logic section 20 and is an error correction signal for automatic tracking in an azimuth sense; the other output signal (Y,,) is basically produced by vertical logic section 21 and is an error correction signal for automatic tracking in an elevation sense. Particular schematic arrangements and detail circuits which may be used to comprise the hereinafterdescribed embodiments of tracker unit 18 are provided in connection with FIGS. 9 and subsequent of the drawings.

Several general comments are desirable with respect to the tracker unit details in the drawings. First, some of the included circuits (e.g., video signal amplifiers 31, 32, synchronizing signal amplifier 33, mixer 34, and the like) are or can be conventional in both function and construction and are sufficiently well-known so that a functional block description is adequate for disclosure purposes; details regarding their construction are generally not shown further in the drawings. However, those circuits which are fundamental to operation of any one embodiment of a tracker unit as described herein or which generally are not clearly understood by a functional description alone, are detailed in a suitable specific form elsewhere in the drawings; see FIGS. through for example. Since the detailed circuits are normally completely comprehended by persons reasonably skilled in the electrical-electronic circuits art from an analysis of their schematic arrangements of components and their function, particular component electrical property values are not given. In considering the following description it should also be kept in mind that each disclosed embodiment of a tracker unit in the drawings is basically of a digital-type system that processes information in pulse form; the video signal inputs to, and the tracking error correction signal outputs from, the tracker units, however, are essentially analog in form. Generally, and unless otherwise noted, it is preferred for uniformity purposes that the various disclosed pulse circuits be triggered and fired by detected positive changes in the voltage shape of a received pulse. Accordingly, it is necessary to employ various inverter circuits (e.g., the circuit of FIG, 13) in the disclosed tracker units to key triggering actions to the leading edge of negative pulses or the trailing edge of positive pulses. Details of a satisfactory dual inverter circuit module are provided in FIG. 15. Frequent reference is made in the drawings to a circuit identified as a one-shot" (e.g., circuit 29, 45, etc.). Such circuit is better described technically as a monostable multivibrator circuit and is detailed in its typical form in FIG. 10. In those instances where the monostable multivibrator circuit employed requires a particular operating duration characteristic, such is indicated in the description. Generally speaking, the basic coupling of individual circuits to a power supply (8+ or B) or to a necessary ground or reference value voltage is well-understood and is not always shown; similarly usable signal levels are not specified herein. The tracker unit embodiments of the drawings are described in operating relation to a television camera video signal wherein increasing signal voltages are caused by increasing image brightness; by polarity reversal techniques the tracker units can be made to operate equally well using or receiving a television video signal based on a negative transmission method.

Also, unless otherwise noted, the following description refers to negative and positive voltage values and such polarities have meaning with respect to a basic viewing reference. Referring to FIGS. I, 2, and 8, targets positioned at the center of the system tracking reticle (and also at the center of the monitor or video signal raster) require zero tracking correction and produce zero position voltages and zero value correction signals. Targets viewed in or moved to the raster left or top portions establish positive voltage signals of proportionally increasing value to indicate position location or tracking correction. Conversely, targets viewed in or moved to the raster right or bottom portions are tracked using comparatively negative voltage values to indicate position or nature of correction required. Such polarities are particularly important with respect to the output X, and Y signals of the various tracker embodiments.

FIG. 9 of the drawings is provided to develop a background understanding of the typical construction and function details for the type of tracker unit to which the instant invention has application. Referring to the embodiment of tracker unit 18 shown in FIG. 9 specifically, the basic functions performed by video processor section 19 are accomplished by video processor circuit 27, edge pulse separator circuit 28, and one-shots 29 and 30. The signals A and C that are received from television camera unit 11 may be amplified, as by the adjunct amplifier circuits 31, 32, and 33. In addition, a mixer circuit 34 may be incorporated in video processing section 19 for use in developing information to be utilized in monitor unit 15 to display an indication of tracking system tracking alignment. The basic output signals of video processing section 19 are contrast marker pulse signals designated +E and E.

Basically, video processor circuit 27 receives an amplified video signal A and by differentiating operations detects all increases or decreases in signal voltage which occur within each horizontal line of camera field-of-view scan. By use of a suitably selected circuit time constant value, circuit 27 is made to provide positive and negative edge pulses D corresponding respectively to increases and decreases detected in the voltage of video signal A. A suitable transistorized circuit for accomplishing the differentiating function and for driving the pulse transformer 35 which couples circuit 27 to circuit 28 is shown in FIG. 10 using the corresponding numeral 27 reference. The output positive and negative edge pulse D are then conducted to edge pulses separator circuit 27 wherein all such edge pulses are given the same polarity (positive) but are classified and conducted into separate channels 36 and 37 on the basis of their detected plus or minus voltage slope change origin. Those edge pulses which designate increasing voltage slopes are conducted by channel 36 to one-shot circuit 29 where a squaring and stretching function is accomplished. Similarly, those edge pulses which are associated with decreasing video signal voltage changes are conducted by channel 37 to one-shot circuit 30 where a similar squaring and stretching function is achieved. Suitable component arrangements for accomplishing the functions of circuits 28 through 30 are also shown in FIG. 10 by corresponding numerical designations. Circuit 28 is essentially comprised of two transistorized inverter sub-circuits with detecting diodes 38 and 39 to act as full-wave detectors. As previously mentioned, one-shot circuit 30 (detailed in one form in FIG. 10) is aptly technically described as a monostable multivibrator circuit that is fired by the leading edge of a received positive-going pulse. The construction of one-shot circuit 29 can essentially be identical to the construction of one-shot circuit 30. In an actual embodiment of the tracker unit of FIG. 9 it was found desirable that the stretched pulse durations obtained by one-shots 29 and 30 should be approximately one-tenth to one-fifth of the video signal horizontal scan time duration that indicates the minimum image of the selected target projected on the photoconductive layer format of camera tube 24 during automatic system tracking; the output pulse durations that were actually developed were each 0.3 microseconds. The output pulse signals of one-shots 29 and 30 are designated as E and +5, respectively in the remaining portion of this description. Such one-shot output signals are hereinafter frequently referred to as marker pulses and are the previously-referenced basic output signal pulses of video processor section 18.

Since the contrast marker pulses E and +E locate all contrast changes in each line of camera scan, such marker pulses will include pulses that identify the leading and trailing edge time positions of the selected target that is viewed and that is to be tracked. A +E signal basically indicates a light object leading edge in a dark background or a dark object trailing edge in a light background. Conversely, a E signal is normally related to a leading edge contrast based on change from a light background to a dark object or to a trailing edge contrast based on change from a light object to a dark background. All references to light and dark are comparative only; all references to leading and trailing edges relate to camera line scanning from left to right and to sequential left and right relative positions. In the case of a negative transmission video signal, the relations (except scanning sequence) are reversed. Also, as will be more fully explained, the tracker units of the drawings can be provided with an appropriate reversing switch that enables the incorporating system to automatically track either comparatively light (white) or dark (black) targets. In this description, details of the operation of the various tracker unit embodiments are provided in terms of positive signal tracking of an essentially dark target positioned within a comparatively light background.

It is required that the operation of horizontal and vertical logic sections and 21 be synchronized with the tracking problem information sensed optically by camera unit 11 and transmitted in video signal A. For this reason, tracker unit 18 of FIG. 9 is provided with a synchronization circuit that in one form is essentially comprised of one-shot circuits 40 and 41, intermediate pulse inverter circuit 42, and AND gate circuit 43. Such synchronization circuit is located in section 20 of the FIG. 9 arrangement only as a matter of convenience. One-shot circuit 40 is triggered by the leading edge of each synchronization pulse comprising composite signal C and produces a positive pulse output signal C having a time duration that is at least greater than the pulse width of any horizontal synchronization pulse in composite signal C but that is appreciably less than the time 'duration of one video signal scan-line. In an actual embodiment of the FIG. 9 arrangement, a time duration of approximately onehalf scan-line (e.g., 3O microseconds) has been found suitable for output pulse signal C Such signal C is inverted by circuit 42 so that the decreasing voltage trailing edge of C in effect triggers one-shot circuit 41 to thereby cause circuit 41 to create a pulse signal C, that serves a triggering function and that exists only during the absence of a horizontal synchronization pulse. A comparatively short time duration (e.g., 2

microseconds) for such output pulse signal C has proven adequate for at least one known tracker unit application. AND gate circuit 43 receives all pulses of composite synchronization signal C and also all trigger pulse signals C, from one-shot circuit 41. Such trigger pulse C is gated through AND gate 43 only when it is time coincident with a vertical synchronization pulse. See FIG. 17. The trigger pulse gated through AND gate circuit 43 also is referenced as signal C It should be noted that signal C, is synchronized with the vertical synchronizing pulse but has a slight time lag with respect to its leading edge; such delay is not at all detrimental to the operation of vertical logic section 21.

A horizontal tracking gate pulse signal having a controlled time position in each raster scan-line is developed in horizontal logic section 20 essentially by means of controllable monostable multivibrator circuit 44 and one-shot circuit 45. Details of a suitable construction for circuit 44, also referred to as a horizontal position voltage to pulse width converter circuit, are provided in FIG. 15 using a similar reference numeral. That circuit as will be noted, is essentially a time delay circuit that is triggered by a positive-going voltage change in the leading edge of each pulse C generated by one-shot circuit 40; such leading edges also correspond to the leading edges of the horizontal synchronization pulses in signal C. The output signal F of circuit 44 is a negative-going pulse whose time dura tion from start is proportional to the magnitude of feedback analogue voltage signal X which is developed by section 20 as a whole. (See FIG. 18 for an illustration of three different pulse F durations.) Negative-going output pulse F has a positive-going trailing edge that triggers or fires one-shot circuit 45. One-shot circuit 45 develops a positive output pulse G which has a short time duration and which is the hereinbefore referred to basic horizontal tracking gate pulse. Such gate pulse should be somewhat longer in duration than the duration of the horizontal scan of the target image in each line of the video signal. Signal G in an actual embodiment of the invention used in tracking a moving vehicle at a distance of over two miles away had a time duration of approximately 2 microseconds and was in the range of one-thirtieth to one-twentieth the duration of the non-blanked part of the video signal A scan-line. lnverter circuits 46 and 47, which circuits may comprise a dual inverter circuit module such as is shown in FIG. 13, are utilized to condition horizontal tracking gate pulse G for use in other portions of horizontal logic section 20.

The detection of a horizontal tracking alignment error is accomplished essentially by paired but independent AND gates 48 and 49. Details regarding a typical satisfactory construction for the AND gates used in the invention are provided by FIG. 11. AND gates 48 and 49 each utilize three input terminals of the AND gate module detailed in FIG. 11. In each instance, one of the input terminals receives the positive-going horizontal tracking gate pulse signal G originated in one-shot circuit 45 as fully inverted and re-inverted by circuits 46 and 47. Another input terminal of each such AND gate receives a vertical tracking gate pulse signal L developed within vertical logic section 21. AND gate circuit 48, in the arrangement of FIG. 9, also receives all -E edge marker pulse signals produced by one-shot 29 of video processor section 19; similar AND gate 49 is arranged to receive all of the +E edge marker pulse signals developed by one-shot circuit 30 of video processor section 19. AND gate circuits 48 and 49 each function to pass the E and edge marker pulse signals through to trigger or fire one-shot circuits 50 and 51, respectively, whenever signals G and L are time-coincident therewith. When the sensor of the tracking system is properly aligned with the selected target, both a --E and a +E marker are passed through the AND gates at the time of the gate pulse. A separate waveform designation M is assigned to the passed signals resulting from the time-coincidence of horizontal and vertical tracking gates and a contrast marker pulse in AND gates 48 and 49. Such signals, which are basically tracking error detection signals, in turn are preferably extended time-wise by one-shot circuits 50 and 51 to just less than one scan-line period in duration (e.g., 60 microseconds) to form the basic horizontal tracking error pulse signals N developed within tracker unit 18; such signals exist in either a N or +N category although each would have an identical positive-going polarity form. One-shot circuits 50 and 51 are similar to circuit 30 but must each be provided with a fastrecovery capability (e.g., 0.5 microseconds).

As previously mentioned, the tracker units of the drawings may be provided with means which enable an incorporating tracking system to follow a selected light target on a comparatively dark background as well as dark targets positioned within a light background. This may basically be accomplished through -use of the reversing switch 52 shown as a part of command controls function 16. In the switch 52 switching position shown in FIG. 9, the input terminal portions of summing circuit 53 are arranged for developing a positive voltage tracking error correction signal X, based on the coincidence gating of essentially only +E marker pulse signals associated with the trailing edge of an essentially dark, relatively leftward-moving target positioned in a comparatively light background. Similarly, relatively rightward movement of the target produces a proportional negative voltage error correction signal X,,.

Tracker unit 18 also detects vertical tracking errors and develops related correction signals, such being accomplished essentially within vertical logic section 21. However, the apparatus and information processing methods utilized in section 21 differ somewhat in construction and function from the comparable aspects of horizontal logic section 20. The differences essentially relate to use of a different form of tracking gate; also, position information concerning the detected target is derived from horizontal logic section signals rather than from video processor section 19.

Vertical tracking gate pulse signals having a controlled vertical position within the vertical extent of the complete raster produced by television camera unit 11 are developed in vertical logic section 21 essentially by means of controllable monostable multivibrator circuit 54 and one-shot circuits 55 and 56. A suitable construction for circuit 54 corresponds to the previouslydetailed FIG. 15 construction for circuit 44. Circuit 54 is also referred to as a vertical position voltage to pulse width converter circuit; it is a time delay circuit that is triggered by a positive-going voltage change in the leading edge of each pulse C, passed through AND gate circuit 43. Such leading edge identifies the existence of a vertical synchronization pulse within composite signal C. The output signal H of circuit 54 is a negativegoing pulse whose time duration from start is proportional to the voltage of signal Y, developed by section 21 as a measure of required vertical tracking error correction for the system. Output pulse H has a positivegoing trailing edge that fires one-shot circuit 56 only. One-shot circuit 56 develops a positive output pulse J having a time duration that constitutes one portion of the basic vertical tracking gate of tracker unit 18. Signal .1 in one actual embodiment of the invention was provided with a time duration of approximately 400 microseconds or six video signal scan-line periods; stated in another manner, signal J in time duration was preferably in the range of one-sixtieth to one one-hundred twenty-fifth of the duration of the video signal A field repetition frequency. The pulse signal .1 output of one-shot circuit 55 is inverted by inverter circuit means so that its trailing edge in effect triggers one-shot circuit 56. The output signal K of circuit 56 preferably has a form and duration corresponding to the form and duration of signal J produced by one-shot circuit 55. Output pulse signal K then constitutes the remaining portion of the basic vertical tracking gate of tracker unit 18. Signals J and K are in effect combined by OR gate 57 to form the basic vertical tracking gate pulse signal L that is required in horizontal logic section 20 on a coincidence basis to gate -E and +E contrast marker pulses through gates 48 and 49. Inverter circuits 61 and 62, like circuit 60, are provided in section 21 to develop the proper polarity for the indicated pulses at the indicated stages of signal processing. In this respect, it should be noted that OR gate 57 functions to gate negative pulses; the output of that gate in turn must be inverted, as by inverter circuit 66, to place the vertical tracking gate pulse in proper polarity condition for gates 48 and 49.

The detection of a vertical tracking alignment error is accomplished in vertical logic section 21 essentially by paired but independent AND gates 58 and 59. As in the case of AND gates 48 and 49, such vertical section gates may use the construction detailed in FIG. 11; however, AND gates 58 and 59 each utilize only two input terminals. In each instance, one of the input terminals receives a horizontal tracking error signal 0 from OR gate 63; such signal is essentially made up of -N or +N horizontal tracking error signals as inverted by inverter circuits 64 and 65. The other input terminal of AND gate 58 receives the vertical tracking gate signal K developed within one-shot circuit 56 after appropriate inversion by circuit 61. AND gate 59, on the other hand, has its other input terminal arranged to receive the J pulse signal portion of the basic vertical tracking gate after it has been inverted by inverter circuit 62. Whenever an inverted N or +N horizontal tracking error signal is received at AND gates 58 and 59 in time-coincident relation to either of vertical tracking gate pulse signals .I or X, such stretched horizontal tracking error signals serve to form corresponding vertical tracking error signals that are passed through (and in the case of P signals after inversion by circuit 67) .to summing circuit 68. A separate waveform designation P is assigned to the passed signals resulting from the time-coincidence of a vertical tracking gate and a horizontal tracking error detection signal. Those tracking error detection signals which are associated with the gating action of one-shot circuit 55 only are given a -P designation; those vertical tracking error detection signals which are developed through time-coincidence with the vertical tracking gate pulse established by one-shot circuit 56 are designated as +P. Time-wise in each raster, +P pulses will normally occur, if there is no vertical tracking error, after the developed P pulses.

The remaining portions of logic section 20 (and 21) are each comprised of a summing circuit 53 (or 68), a filter circuit 69 (or 70), and an integrator circuit 71 (or 72), as shown in FIG. 9. Such additional circuits essentially function to develop appropriate tracking error correction signals (X, or Y,) for controlling movement of the tracking system sensor in tracking relation to moving or movable target T. Such tracking error signals, which are basically in DC voltage analog form,

also are provided as feedback signal inputs to controllable monostable multivibrator circuits 44 and 54. Detailed construction of particular circuits for carrying out the functions of circuits 53 and 69 through 72 are provided in FIG. 15. Since the constructions of circuits 68, 70, and 72 preferably correspond to the constructions of circuits 63, 69, and 71, respectively, duplicate details are not provided in the drawings.

Summing circuit 53 of FIG. functions to add the -N and inverted +N tracking error pulses which appear at any instant within horizontal logic section during operation of the tracker unit. The output signal of summing circuit 53 is designated Q; in the case of circuit 68, the output signal is identified by the reference letter R. Normally, the -N and the +N signals which are introduced into summing circuit 53 are largely coincident during each scan-line period of tracking alignment and during tracking the difference seen by circuits 69 and 71 is essentially zero. However, when there is tracking misalignment a sequence of N or +N pulses are present and do cause error correction signals to be developed in the subsequent portion of the tracker unit. (See FIG. 23 for specific examples.) In the case of summing circuit 68, however, the input tracking error signals P and inverted +P are entirely non-coincident. This is because vertical tracking gate pulses J and K are derived sequentially.

Filter circuits 69 and 70, details for which are given in FIG. 15, are provided in the invention so as to essentially average out or smooth the pulsed output signals Q and R so as to be in usable form for integrator circuits 7] and 72. Circuits 69 and 70 are substantially identical in function but differ in that filter circuit 70 must essentially respond to R signals which normally occur in sequential groupings. Up to six successive individual pulses may comprise each such grouping in the case of specific one-shot circuits 55 and 56 each having a 400 microsecond output. Integrator circuits 7] and 72 respond essentially to the output of circuits 53 and 68; their outputs are inverted relative to the polarity of the inputs to the summing circuits 53 and 68. See FIGS. 22 and 23.

FIG. 15 (and also FIG. 9) provides schematic details of certain manually-operated controls that may be desirably incorporated in command control function 16 to facilitate operation of tracker unit 18. Such specific command controls include reversing switch 52, acquisition potentiometer means 73 and 74, and selection switch 79. A basic on-off switch is generally desirable but is not shown in the drawings. As previously explained, reversing switch 52 is provided so as to improve the capability of tracker unit 18 to follow essentially light targets existing on a comparatively dark background as well as the indicated dark target positioned on a light background. Potentiometer means 73 and 74 may be operated relative to an intermediate zero potential or ground voltage value to either of the indicated maximum B and B+ supply voltages. In the specific embodiment of the invention shown in FIGS. 1 through 15, a zero output voltage associated with signal X, positions the horizontal tracking gate pulse at the horizontal center of the television camera video signal scan-line. B+ (+X,,) values position the gate toward the left extreme (FIG. 5) of the resulting raster; basically, the degree of displacement from the center is directly proportional to the magnitude of the developed positioning voltage value. Similarly, potentiometer means 73 may be manually positioned to B- (X,,) voltage values to displace the horizontal tracking gate pulse proportionately to the right (FIG. 5) of the raster horizontal center position. In a similar manner, potentiometer means 74 may be moved manually to obtain B- and 8+ voltage values to displace the vertical tracking gate pulses .l and K in their natural time sequence below or above, respectively, the vertical center of the video signal output raster. Scan-track switch 79 must be closed as shown in the drawings to facilitate initial target acquisition for automatic tracking; once acquisition of the target is obtained, switch 79 may be opened to make potentiometer means 73 and 74 inoperative and to place movement of the tracking system optical sensor and tracking gate pulses under the complete locked-on control of tracking error correction signals X, and Y, produced by logic sections 20 and 21.

The television picture tube element normally included in monitor unit 15 basically receives video signal A and synchronization signal C for developing a conventional visual presentation of the general tracking problem to be observed by the system operator. The visual display presented thereby, however, may be significantly enhanced by other features of this invention. Such enhancement is accomplished by means of summing circuit 75 and by means of the E and +E edge marker pulse signals developed in circuits 29 and 30. Summing circuit 75, details for which are provided in FIG. 14, develops so-called cross-hair pulse information for presentation on the screen of monitor unit 15. Such cross-hair pulse information develops the paired horizontal cross-hair lines 77 and the paired vertical cross-hair lines 78 shown in FIG. 5. The rectangular area defined by and located within the intersection of cross-hair lines 77 and 78 comprise the tracker unit 18 rcticle. For tracking with the FIG. 9 unit, the selected target is located entirely within the rcticle for target acquisition or lock-on purposes. See FIG. 5 and the target display reference T FIG. 6 shows the makeup of that rcticle in terms of the duration of tracking gate pulses G, .l, and K. The cross-hair pulse information is developed in circuit 75 essentially by differentiator sub-circuits that detect negative-going voltage changes in the leading and trailing edges of the appropriate gate pulses. More specifically, one input terminal of circuit 75 receives signal G after a single inversion and detects its leading edge; another input terminal of circuit 75 receives pulse G after a double inversion by circuits 46 and 47 and detects its negativegoing trailing edge. Such detected edges comprise, after inversion and mixing, the cross-hair pulses that form dark cross-hair lines 78. In a similar manner, signals J (after inversion by circuit 60) and K are conducted to summing circuit 75 where their leading and trailing edges, respectively, are detected. The differentiated detected leading and trailing edges of the vertical gate pulses are afterwards introduced into monitor unit 15 to comprise horizontal cross-hairs 77.

This display developed for monitor unit 15 may also be enhanced by appropriate use of edge marker pulses E and H3 as follows. Mixer circuit 34 can function to gate those edge (contrast change) marker pulses which are time-coincident with tracking gate edge pulses developed in summing circuit 75 and amplify such passed pulses for presentation in the picture tube of monitor unit 15. The so-gated and so-amplified marker pulses give a display indication to the operator that tracker unit 18 is actually following the selected and displayed target contained within video signal A.

FIG. 16 is provided in the drawings to illustrate various coincidence relations that do (or may) exist as between edge marker pulses associated with a selected target and the basic horizontal tracking gate pulse. Preferably, the -E and +E edge marker pulses associated with the leading and trailing edges of a selected target are positioned entirely within the horizontal tracking gate pulse as shown in FIG. 16(a). If the target is moved to the left relative to the viewing axis of the system optical sensor as in the case of a movement toward position T from aligned position T of FIGS. .1 through 3, the E leading edge pulse will become coincident with the leading edge of the horizontal tracking gate pulse (FIG. l6(b)). Inasmuch as coincidence is maintained as between the tracking gate pulse and at least a part of each target edge marker pulse, such being a non-singularly coincident pulse relation, no tracking alignment error is detected. Complete absence of but one of the two target edge marker pulses from within the tracking gate (FIG. l6(c)) i.e., a singularly coincident pulse relation, causes development ofa tracking error signal based on the coincidence of the remaining interiorly-positioned target trailing edge marker pulse. Such error correction signal, as processed through summing circuit 53, filter circuit 69, and integrator circuit 71, in effect causes the horizontal gate to be repelled away from the coincident singular target edge marker pulse and toward the escaped" target opposite edge (target interior) marker pulse, i.e., toward a non-singularly coincident pulse relation. Relative movement between the target and the horizontal tracking gate in an opposite direction will cause tracking gate conditions corresponding to the relations shown in FIGS. 16(d) and 16(e). Sufficient rightward movement of the target will ultimately result in only the target leading edge being coincident with the horizontal tracking gate pulse so as to cause an error signal indicating a need for tracking correction. See FIG. 16(e). FIG. 16(f) illustrates the situation which occurs when the selected target in effect outruns the established horizontal tracking gate. This situation is commonly referred to as an unlock" situation; it occurs whenever the relative movement between the selected target and the optical sensor occurs at a rate that exceeds the maximum obtainable tracker unit tracking rate. FIG. 16(g) illustrates the minimum target edge marker pulse separation which generally may be permitted with respect to successful actual embodiments of the tracker units described herein. The improved tracking rates which are obtained with the disclosed embodiments result chiefly from those wherein the distance between the target edges (edge marker pulses leading edges) is not less than one-tenth the duration of the horizontal tracking gate. The net effect of closing movement of the target relative to the tracker, or vice versa, is illustrated by FIG. 16(h). As shown therein, the spacing between the target edge marker may increase relative to its projection on the television camera tube sensor format so that the edge marker pulses may become coincident with the gate pulse edges. Whenever the separation between the selected target marker pulses exceeds one gate width, there .is a recognized possibility of losing tracking control over the selected target.

FIG. 17 illustrates the various signals which occur within video processor section 19 and the synchronization circuit included as a matter of convenience within horizontal logic section 20. The signals of the first line within FIG. 17 detail typical positive transmission video signals produced by camera unit 11 during scanning of a general tracking problem. The first (a) and secondlast (e) line portions of signal A in FIG. 17 show a representative background situation; the second (b) through fourth (d) line portions show the effect of a dark target T positioned against a comparatively light background. The last line portion (f) shows the presence of a vertical blanking pulse; horizontal blanking pulses occur in each of the other line portions at the trailing region. The horizontal and vertical synchronizing pulses produced by television camera unit II appear on the line designated C. Also superimposed on that line are the pulses C and C used to logically determine the existence of a vertical synchronization pulse in the composite synchronization signal. The last line of FIG. 17 shows the waveform H which occurs as the result of detecting a vertical synchronizing pulse in the composite synchronizing signal. Marker pulses detecting each contrast change occurring within a scanline are designated D. By appropriate manual or automatic sensitivity control, the number and degree of contrast change detected within a typical scan-line may be varied. A variable amplification function carried out within video amplifier section 31 may be adequate for this purpose. The resulting rectified and squared edge marker pulses are appropriately designated +E and -E in the signal line designated E.

FIG. 18 illustrates the effect of the logic section output signal X, on the positioning of the horizontal tracking gate pulse within each video scan-line. The first and third line portions indicate situations wherein the gate pulse has been in effect moved significantly to the left or significantly to the right relative to the television picture tube raster centerlines. In the case of the 

1. A tracking system tracker unit which generates an electrical azimuth tracking error correction signal in response to detected changes in a television camera output video signal picturing a selected target in a contrasting background to control the viewing axis of the television camera in azimuth tracking relation to the selected target, Comprising: a. Detector circuit means detecting voltage amplitude changes in the television camera output video signal and producing a detection pulse that identifies the real-time-position of an edge-like characteristic of the selected target, b. First pulse generator circuit means generating a first marker pulse for each said detection pulse produced in said detector circuit means and introducing said first marker pulse into a first channel, c. Second pulse generator circuit means generating a second marker pulse in response to each detection pulse produced by said detector circuit means and introducing such second marker pulse in another and separate channel subsequent to said first marker pulse by a fixed time delay, d. Third pulse generator circuit means generating a horizontal tracking gate pulse having a definite time duration and having a variable time-position in each line of horizontal scan of the television camera, e. Two AND gate circuit means each receiving a different one of the said first and second marker pulses and said horizontal tracking gate pulse and gating the time-coincident portion of said received pulses as an azimuth tracking error detection pulse, f. Summing circuit means functioning to add the tracking error detection pulses gated by each of said two AND gate circuit means and producing a tracking error detection pulse signal representing their difference and representing the selection of a desired direction of azimuth tracking error correction, and g. Integrator circuit means integrating the signals produced by said summing circuit means to form said electrical azimuth tracking error correction signal, said azimuth tracking error correction signal variably positioning the horizontal tracking gate pulse generated by said third pulse generator means in a non-singularly coincident relation to the marker pulses generated by said first and second pulse generator circuit means at said two AND gate circuit means to accomplish tracking system tracking correction and controlling the position of the viewing axis of the television camera in aligned azimuth tracking relation to the selected target.
 2. The tracking system tracker unit defined by claim 1, wherein an electrical elevation tracking error correction signal is additionally generated to control the viewing axis of the television camera in elevation tracking relation to the selected target, said tracker unit additionally comprising: h. Additional pulse generator circuit means generating a vertical tracking gate pulse having a definite time duration and having a variable time-position in a vertical direction of scan, i. Two additional AND gate circuit means each receiving a different time portion of said vertical tracking gate pulse and a pulse indicating the real-time existence of either of said first and second marker pulses and each gating those pulse portions which are time-coincident therein as elevation tracking error detection pulses, j. Additional summing circuit means functioning to add the tracking error detection pulses gated by each of said additional two AND gate circuit means and producing a tracking error detection pulse signal representing their difference and representing the selection of a desired direction of elevation tracking error correction, and k. Additional integrator circuit integrating the signals produced by said additional summing circuit means to form said electrical elevation tracking error correction signal, said elevation tracking error correction signal variably positioning the vertical tracking gate pulse generated by said additional pulse generator circuit means in a non-singularly coincident relation to a pulse indicating the real-time existence of said first and second marker pulses at said additional two AND gate means to accomplish tracking system tracking correction and controlling the position of the viewing axis of the television camera in aligned elevation tRacking relation to the selected target.
 3. The tracking system tracker unit defined by claim 1, wherein said fixed time delay established by said second pulse generator means is greater than the time duration of said horizontal tracking gate pulse.
 4. In a tracking system tracker unit which generates an electrical azimuth tracking error correction signal in response to detected voltage amplitude changes that exist in a television camera output video signal and that identify a selected target to control the viewing axis of the television camera in azimuth tracking relation in relatively leftward and rightward directions with respect to the selected target as viewed from television camera, in combination: a. Means generating first marker pulses which are identified with detected voltage amplitude changes in the television camera video signal and which establish the time-position of a relatively leftward contrast change characteristic of the selected target in successive horizontal lines of scan, b. Means generating second marker pulses each of which is positioned a fixed time subsequent to a first marker pulse and each of which establishes the time-position of a false relatively rightward contrast change characteristic of the selected target, c. Means generating a horizontal tracking gate pulse having a definite time duration and having a time-position in each of said horizontal lines of scan that may be varied relatively leftward and rightward from a tracking alignment position, d. Means receiving said first marker pulses and said horizontal tracking gate pulses and gating those pulse portions which are time-coincident therein as relatively leftward azimuth tracking error detection pulses, e. Means receiving said second marker pulses and said horizontal tracking gate pulses and gating those pulse portions which are time-coincident therein as relatively rightward azimuth tracking error detection pulses, and f. Means converting relatively leftward and singularly existent pulses of said azimuth tracking error detection pulses into a relatively rightward azimuth tracking error correction signal and converting relatively rightward and singularly existent pulses of said azimuth tracking error detection pulses into a relatively leftward azimuth tracking error correction signal, said relatively rightward and leftward azimuth tracking error correction signals driving the time-position of said horizontal tracking gate pulse rightward and leftward respectively to accomplish tracking system tracking correction and to control the viewing axis of the tracking system television camera in an aligned tracking relation to the selected target.
 5. The tracking system tracker unit defined by claim 4, wherein said fixed time established by said second means is greater than the time duration of said horizontal tracking gate pulse.
 6. In a tracking system tracker unit which generates an electrical azimuth tracking error correction signal in response to voltage amplitude changes that exist in a television camera output video signal to control positioning of the viewing axis of the television camera in two opposite azimuth tracking senses in relation to the selected target, in combination: a. Means detecting voltage amplitude changes in the television camera video signal including voltage amplitude changes which identify edge-like characteristics of the selected target in successive horizontal lines of scan, b. Means establishing a time delay of fixed duration after each voltage amplitude change detected by said first means, c. Means generating a first marker pulse for each voltage amplitude change detected by said first means, d. Means generating a second marker pulse which occurs immediately after each time delay generated by said second means and which identifies a false edge-like characteristic of the selected target, and e. Means converting said first marker pulses and said second marker pulses separateLy of each other in the tracing system tracker unit to control positioning of the viewing axis of the television camera in said two opposite azimuth tracking senses in relation to the selected target.
 7. The invention defined by claim 6, wherein said second means establishing a time delay is a monostable multivibrator circuit that is triggered by each voltage amplitude change detected by said first means.
 8. The tracking system tracker unit defined by claim 6, wherein said second means establishes a time delay having a duration in the range of from one-twentieth to one-sixtieth the duration of any of said successive horizontal lines of scan.
 9. In a method of processing a television camera video signal to develop a tracking error correction signal that controls the viewing axis of the television camera in aligned tracking relation with a selected target in two opposite senses of an azimuth tracking direction, the steps of: a. Differentiating the output video signal of the television camera, b. Detecting voltage amplitude changes in the differentiated television camera output video signal above a preselected level to identify the real-time presence of edge-like characteristic of the selected target. c. Forming leading edge marker pulses from the detected voltage amplitude changes, d. Forming separate marker pulses in response to the detected voltage amplitude changes and each positioned in spaced-apart relation to a leading edge marker pulse by a fixed time period, and e. Separately converting said leading edge marker pulses and said separate marker pulses into the correction signal in correlated relation to the two opposite senses of the azimuth tracking direction. 